version: 66.04
glider: 148
mission: 7
dive: 17
start: 3 4 109 11 36 57
data:
$ID,148
$MISSION,7
$DIVE,17
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,80
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,67
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52629
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2200
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-19659.27
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2812
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,1750
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3500
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.678058
$PRESSURE_SLOPE,0.00011637
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043988163
$SEABIRD_T_H,0.0006414433
$SEABIRD_T_I,2.6398575e-05
$SEABIRD_T_J,2.9043883e-06
$SEABIRD_C_G,-10.103149
$SEABIRD_C_H,1.1453719
$SEABIRD_C_I,-0.0014561723
$SEABIRD_C_J,0.00020149905
$GPS1,112926,4805.911,-12222.020,8,2.0,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-66.3
$GPS2,113603,4805.906,-12222.002,11,3.7,30,18.3
$SPEED_LIMITS,0.129,0.234
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.114,0.204
$KALMAN_X,-2628.5,-108.4,-66.6,4226.6,89.0
$KALMAN_Y,2636.4,-62.3,14.9,-6609.1,-212.0
$MHEAD_RNG_PITCHd_Wd,312.5,4598,-13.0,-7.463
$D_GRID,108
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.99,-146.0,0.0,0.0,0,172,0.00,0.00,-153.55,0.000,2,0.000,0.000,418,1750,3867
$GC,176,-0.99,-146.0,4.2,-12.6,19,201,12.02,2.45,-2.00,0.000,4,0.175,0.069,2588,347,3953
$GC,301,-0.85,-146.0,16.8,-6.7,39,310,0.15,2.35,0.00,0.000,6,0.106,0.038,2622,1756,3953
$GC,382,-0.81,-146.0,21.3,-5.2,52,390,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,1756,3953
$GC,462,-0.77,-146.0,25.1,-4.9,65,469,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,1756,3954
$GC,542,-0.77,-146.0,29.2,-5.2,78,550,0.00,2.47,0.00,0.000,4,0.000,0.059,2622,344,3953
$GC,578,-0.74,-146.0,31.0,-5.3,83,586,0.10,2.35,0.00,0.000,6,0.093,0.038,2647,1753,3953
$GC,659,-0.77,-146.0,34.8,-4.4,96,668,0.00,2.38,0.00,0.000,4,0.000,0.048,2647,3148,3954
$GC,683,-0.80,-146.0,35.9,-4.5,99,691,0.00,2.38,0.00,0.000,6,0.000,0.040,2647,1748,3953
$GC,763,-0.85,-146.0,39.2,-4.4,112,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1748,3953
$GC,843,-0.89,-146.0,42.5,-4.1,125,849,0.12,2.38,0.00,0.000,4,0.054,0.044,2609,3156,3953
$GC,872,-0.89,-146.0,44.1,-4.4,130,880,0.00,2.38,0.00,0.000,6,0.000,0.040,2609,1753,3953
$GC,1018,-0.85,-146.0,51.3,-5.1,155,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1753,3953
$GC,1161,-0.81,-146.0,59.2,-5.3,180,1169,0.12,2.45,0.00,0.000,4,0.101,0.060,2635,346,3953
$GC,1208,-0.81,-146.0,61.4,-5.4,187,1215,0.00,2.30,0.00,0.000,6,0.000,0.043,2634,1748,3953
$GC,1351,-0.81,-146.0,68.2,-4.3,212,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,1751,3953
$GC,1497,-0.81,-146.0,74.1,-3.8,237,1503,0.00,2.35,0.00,0.000,4,0.000,0.047,2635,3156,3953
$GC,1535,-0.81,-146.0,75.7,-4.3,243,1541,0.00,2.35,0.00,0.000,6,0.000,0.045,2634,1748,3953
$GC,1675,-0.81,-146.0,81.2,-3.7,268,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1748,3953
$GC,1823,-0.81,-146.0,86.9,-4.0,293,1829,0.00,2.38,0.00,0.000,4,0.000,0.051,2634,3161,3953
$GC,1841,-0.81,-146.0,87.9,-3.9,296,1850,0.00,2.38,0.00,0.000,6,0.000,0.046,2634,1753,3953
$GC,1989,-0.81,-146.0,93.6,-4.0,321,1995,0.00,2.42,0.00,0.000,4,0.000,0.066,2634,340,3953
$GC,2008,-0.81,-146.0,94.6,-4.2,324,2015,0.00,2.33,0.00,0.000,6,0.000,0.044,2634,1742,3953
$GC,2154,-0.81,-146.0,100.9,-4.5,349,2160,0.00,2.35,0.00,0.000,4,0.000,0.046,2634,3152,3953
$GC,2183,-0.84,-146.0,102.2,-4.6,353,2189,0.00,2.35,0.00,0.000,6,0.000,0.040,2634,1743,3953
$STATE,2255,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2255,begin apogee
$GC,2263,-0.31,0.0,105.9,4.5,366,2358,0.47,0.00,89.65,0.711,6,0.091,0.000,2739,1860,3500
$STATE,2359,end apogee,CONTROL_FINISHED_OK
$STATE,2359,begin climb
$GC,2362,0.99,146.0,107.7,0.0,380,2487,1.27,0.00,115.97,0.685,6,0.068,0.000,3026,1860,2904
$GC,2624,0.87,146.0,88.0,9.6,422,2633,0.12,2.50,0.00,0.000,4,0.116,0.066,3002,445,2902
$GC,2661,0.77,146.0,84.7,9.8,427,2667,0.12,2.33,0.00,0.000,6,0.111,0.038,2979,1841,2902
$GC,2804,0.77,146.0,73.0,7.5,452,2811,0.00,2.42,0.00,0.000,4,0.000,0.051,2979,3250,2902
$GC,2849,0.77,146.0,69.7,7.9,459,2855,0.00,2.38,0.00,0.000,6,0.000,0.044,2979,1841,2902
$GC,2989,0.77,146.0,58.6,8.0,484,2996,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1841,2902
$GC,3137,0.77,146.0,47.1,8.0,509,3142,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1841,2902
$GC,3283,0.78,151.3,36.3,7.3,534,3300,0.00,2.47,5.62,0.528,4,0.000,0.050,2979,3257,2882
$GC,3332,0.78,151.3,32.5,7.7,541,3340,0.00,2.40,0.00,0.000,6,0.000,0.042,2979,1851,2882
$GC,3412,0.78,154.2,26.4,7.4,554,3422,0.00,2.50,4.28,0.467,4,0.000,0.061,2979,442,2871
$GC,3459,0.78,154.2,22.5,8.3,561,3467,0.00,2.38,0.00,0.000,6,0.000,0.038,2979,1853,2870
$GC,3541,0.80,165.3,16.5,7.1,574,3558,0.00,2.40,10.50,0.597,4,0.000,0.051,2979,3258,2825
$GC,3585,0.80,165.3,13.2,7.5,580,3592,0.00,2.40,0.00,0.000,6,0.000,0.043,2979,1855,2825
$GC,3663,0.80,165.3,7.4,7.5,593,3670,0.00,2.45,0.00,0.000,4,0.000,0.061,2979,449,2824
$GC,3703,0.83,169.4,4.5,7.3,599,3719,0.00,2.35,4.38,0.466,6,0.000,0.038,2979,1848,2809
$STATE,3737,end climb,SURFACE_DEPTH_REACHED
$STATE,3737,begin surface coast
$FINISH,1.9,1.020339
$STATE,3813,end surface coast,CONTROL_FINISHED_OK
$STATE,3813,begin surface
$SM_CCo,3836,112.20,0.619,0,0,1868,400.08
$SM_GC,1.53,0.00,0.00,112.20,0.000,0.000,0.619,420,1729,1868,-11.01,-0.59,400.08
$IRIDIUM_FIX,4748.51,-12224.57,290598,101032
$TT8_MAMPS,0.027612
$HUMID,1472
$INTERNAL_PRESSURE,9.17414
$TCM_TEMP,12.80
$XPDR_PINGS,9
$24V_AH,23.5,1.993
$10V_AH,10.4,1.836
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,25.550,72.075,230.400,112.200,0.000,24.541,22.980,179.651,2.250,0.000,0.000,32.816,987.318,442.510,465.448,1810.630,627.651,33.338,1158.946,0.000,1901.955,0.000,0.531,0.000
$DEVICE_MAMPS,174.876,69.030,711.009,618.969,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,467.770,347.383,640.458,785.081,1466.979,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,51004,617
$CAP_FILE_SIZE,198211,0
$CFSIZE,260165632,223203328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,040309,124338,4806.111,-12222.324,10,1.2,10,18.3